Research article a direct attitude determination approach. Hence, further research may focus on the use of the rategyrointegral constraint to enhance the strength of gnss model under the poor observation. Attitude determination is a problem that is central. Rategyrointegral constraint for ambiguity resolution in. Doctoral foundat ion of minist ry of educat ion 20030287005 application of mean field annealing algorithms to gps based attitude determination liu hai ying, wang h ui nan col lege of a utomat ion engineering, n anj ing university of aer onautics and ast ronautics, nanj ing 210016, china abstract. Landis markley2 abstract in this paper, a novel technique for finding a pointbypoint deterministic attitude solution of a vehicle using global positioning system phase difference measurements is presented. On the basis of previous experience with other spacecraft experiments such as the radcal satellite, and as explained in development and flight demonstration of a gps receiver for space, id. Pdf survey of globalpositioningsystembased attitude. A direct attitude determination approach based on gps double. Pdf development of gpsbased attitude determination algorithms. If only the latest batch of measurements is used, then the optimal way to estimate the baseline attitude is by least squares. Development of gpsbased attitude determination algorithms.
Dynamicsbased attitude determination using the global positioning system changmook chunand f. Differential carrierphase gps based attitude determination represents an attractive alternative to expensive and complex inertial measurement units imus and attitude heading reference systems ahrs, for aeronautical, marine and machineguidance applications. This paper discusses the benefits of using dualfrequency receivers for attitude determination applications. On algorithms for attitude estimation using gps request pdf. It can accommodate more antennas and attitude is less affected by multipath from a single antenna since it is based on a least squares fit of all antenna positions. Thus, the prerequisite for attitude determination technique based on gps is to calculate baselines between antennas to. 4 february 2000 with 23 reads how we measure reads. Gpsbased attitude determination for microsatellites, proc.
The goal of this research is to develop fully autonomous algorithms that are robust for any initial attitude. Algorithms used for attitude determination in the toolbox in section 2, the general mathematic model for attitude determination is presented. Vector observationaided attitudeattituderate estimation. Kalman filtering algorithms for attitude determination of gyrostat satellite the central problem for the gps receiver in attitude determination of the user satellite is the precise estimation of angles, angular velocities, and time based on noisy observations of the gps satellite signals. For the general gpsbased attitude determination problem, cohen1develops a re cursive algorithm for online estimation of the attitude that is based on a linearization of the objective function. Further details on the methodology used in the attitude determination algorithms are given in lachapelle et al. This report summarizes the fy9293 research activity at the colorado center for astrodynamics research ccar on the application of gps based attitude determination techniques to nearearth spacecraft. A quaternion can be thought of as a 4 dimensional vector with unit length. Attitude determination of highly dynamic fixedwing uavs. The gps based attitudedetermination problemcan beviewedas an optimization problem onso3, and as is wellknown,so3 does not possess a euclidean structure. The second algorithm explores the artificial neural network approach to find the attitude. Simulation results show the e ectiveness of the proposed algorithm. Pointing requirements for the constellation are dictated by the formation flying mission objective and communication demands. The first algorithm extends the ambiguity function method to account for.
There is both a welldeveloped theory and an abundance of numerical algorithms for constrained minimization of functions in euclidean space, and it is. Development of algorithms for attitude determination and. Analysis of attitude determination methods using gps carrier. Park seoul national university, seoul 151742, republic of korea we present an algorithm for attitude determination using global positioning system gpsphase di erence measurements. With the development of the algorithms for orbit and attitude determination and the receiver hadware, a great potential with significant influence on future missions and applications has arisen. Quaternions can be multiplied using the special operator defined as. Realtime multipath calibration of a gpsbased heading. Vehicles attitude can be uniquely determined from two noncollinear relative position vectors, known as the baseline vectors.
Fundamentals of gpsbased attitude determination the fundamentals of gps attitude determination are well covered in the literature, with6 being the standard reference. The ambiguity resolution performance, baseline, and attitude solution accuracy is compared between single and dualfrequency modes. Development of a lowcost solution for gpsgyro attitude. Multipath is recognised as the performance driver for gps based attitude determination, so that multipath reduction and mitigation is the key to significantly improve the achievable accuracy, today experimentally demonstrated to about 0. Pdf development of gpsbased attitude determination. Realtime attitude determination for microsatellite by lambda method combined with kalman filtering, 22nd aiaa int. Gps based attitude determination is an important research field in recent years, where the key technologies involve the detection and reparation of cycle skip, integer ambiguities resolution, attitude solution, and so forth.
Application of mean field annealing algorithms to gpsbased. Pdf attitude determination for small satellites with modest. The work was expanded to look at gpsbased attitude determination, using multiple gps receivers and antennas on a single platform, as a possible navigation aid. Development of gpsbased attitude determination algorithms article pdf available in ieee transactions on aerospace and electronic systems 333. The results using the proposed procedure will be applied to the ground field tests and the flight experiments will be analyzed. A test platform is set up for verifying these algorithms. The motivation of developing such a toolbox is not to provide a powerful and reliable software package for real applications, but to present the basic functions needed for gpsbased attitude determination. This monograph reports on the development of the attitude determination backbone of the ionospheric observation nanosatellite formation ionf. Although many innovative gps based attitude determination algorithms have been proposed, this paper focuses on the design of multimode navigation filter algorithms rather than gps based attitude determination algorithms.
Development of a gps multiantenna system for attitude. A new algorithm for attitude determination using global positioning system signals john l. This work describes the development and testing of gpsbased attitude and heading determination system ahrs using singlefrequency l1 carrier phase differential gps cpdgps. Efforts included not only the development of data processing algorithms and software, but also the collection and analysis of gps and ins flight data.
It is shown it gets a precise attitude result with the direct attitude determination method in the simulation. Development of an attitude determination algorithm for the attitude determination algorithm a kalmanfilter for the sensor configuration shall be developed. Vector determination attitude determination integer resolution raw phase measurements extended phase measurements corrected phase measurements vector estimate attitude estimate kalman filter allegro cohen least squares baritzhack new algorithm eulerq geometric descent baritzhack 2 noniterative iterative. A new algorithm star for cycle ambiguity resolution within. A potentially inexpensive, gyrofree multiantenna gpsbased attitude determination system is discussed in 9 and 10. This paper deals with an application of this gps based attitude determination algorithm to the design of the attitude determination system of the university of rome microsatellite unisat. The first algorithm extends the ambiguity function method to account for the unique requirement of attitude determination. Dynamicsbased attitude determination using the global.
Geometric descent algorithms for attitude determination using. A multiantenna gps array has been used by many researchers and in practise and to determine the attitude parameters of a mobile platform. Although the satelliterelated errors can be virtually eliminated by forming single differences, the baselinerelated errors such as line biases are still present in the singledifferenced carrier phase measurements. Precise phase calibration of a controlled reception pattern. Consequently, a rather brief overview is all that will be required in order to introduce the changes necessary for. Geometric descent algorithms for attitude determination. Attitude determination using gps carrier phase measurements relies on the interferometric principle. At the heart of high accuracy realtime gps based attitude determination is the quick and correct resolution of the carrier phase ambiguities. Research is being performed to develop new and efficient algorithms for attitude determination using global positioning system signals. The first algorithm extends the ambiguity function method to. However, most past work has been done using high performance gps receivers and antennas so as to mitigate carrier phase. Onthefly gpsbased attitude determination using single and. Development of gpsbased attitude determination algorithms jyhching juang, member, ieee guoshing huang this paper describes two global positioning system gps based attitude determination algorithms which contain steps of integer ambiguity resolution and attitude computation.
It is, therefore, difficult to resolve the singledifferenced integer ambiguities due to the. A novel algorithm is proposed to solve some problems. A gps based attitude determination algorithm for the spin. Three spacecraft with similarly modest pointing constraints comprise the ionf constellation. The system presented in 7 uses magnetometers, accelerometers, and gps as the primary sensors and determines attitude by solving wahbas problem 8. A gps based attitude determination system can be seen as an algorithm that takes the raw differential phase measurements as inputs and generates an estimate of the baseline attitude as output. Gpsbased attitude determination techniques have been extensively investigated in the last ten years and proven to be a cost effective solution without errors drifting over time e. Also, system observability using two baselines is discussed. However, most gps based attitude determination algorithms have used multiple antennas and corresponding signaltracking modules, which incur relatively high capital costs. Both attitude and attitude rate were estimated, and the filters used the nonlinear euler equations of motion for attitude propagation.
The attitude initialization problem, where the externaltoplatform orientation, the various integer ambiguities, and the antenna line biases are unknown, is a key challenge to gps based attitude determination. For the development of an attitude control system it is important to investigate the behaviour of the complete control loop. A simulation shall be developed to support this development. Us6005514a method for attitude determination using gps. Analysis of gpsbased real time attitude determination system. Efficient dualfrequency ambiguity resolution algorithm for. Development and experimental validation of a multialgorithmic hybrid attitude determination and control system for a small satellite aerospace science and technology, vol.
In this article, the development of gpsmemsins systems speci. Kornfeld and coauthors 1 antenna, gps provides position and velocity measurements, from which attitude information can also be synthesized. Experimental results on three multipath compensation. The idea behind the proposed new rategyrointegral constraint for gnss attitude determination is the utilization of the platform dynamic information measured by affordable inertial sensors. Next, cohens method for transforming the general cost function into wahbas problem is shown. The functional architecture of the overall integrated system is shown. The angular momentum direction is determined to within 10. Two extended kalman filters ekf are developed where the measurements equations are analytically solved in order to avoid the derivation of the jacobian matrices. Efficient dualfrequency ambiguity resolution algorithm for gps based attitude determination. Then, a general technique for transforming the general cost function is developed. Then, algorithms for the attitude solution, the integer ambiguity resolution and the line bias estimation will be presented in detail. However, how to resolve the attitude parameters using this model is still an issue.
Onthefly gps attitude determination using single and. In this section, we will introduce two algorithms, the direct attitude computation and leastsquares attitude determination. If three or more gps antennas are mounted properly on a platform and differences of gps signals measurements are collected simultaneously, the baselines vectors between antennas can be determined and the platform orientation defined by these vectors can be calculated. Gpsbased attitude determination of gyrostat satellite by. Carrier phase measurements are primary observations for gps attitude determination. A new algorithm for attitude determination using global. Survey of globalpositioningsystembased attitude determination algorithms article pdf available in journal of guidance control and dynamics 406.
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